Major Rework all files - Pass pointers to tasks, Remove gloabl variables
- All files:
Modify almost all files to adjust functions and classes to
work with pointers to objects passed at task creation
instead of global variables from config.hpp
- Remove/clear config.hpp to get rid of all global variables
- main.cpp
- Create pointer to all shared (used in multiple tasks) objects in main
- remove evaluatedSwitch button object,
since joystick library is used to get switch events
- changes HTTP-mode
- always init http-server (do not enable/disable at mode change)
- pass url-handle function to init-htpp function
- add lambda function to pass method of instance for thatMajor Rework all files - Remove global variables, pass pointers to tasks
- All files:
Modify almost all files to adjust functions and classes to
work with pointers to objects passed at task creation
instead of global variables from config.hpp
- Remove/clear config.hpp to get rid of all global variables
- main.cpp
- Create pointer to all shared (used in multiple tasks) objects in main
- remove evaluatedSwitch button object,
since joystick library is used to get switch events
- changes HTTP-mode
- always init http-server (do not enable/disable at mode change)
- pass url-handle function to init-htpp function
- add lambda function to pass method of instance for that
NOTES: - tested on breakoutboard only
- known issue that slow encoder events are not recognized
(especially in menu) - slowing down motorctl helps
This commit is contained in:
jonny_jr9
parent
40a0f56208
commit
2fcf17feda
@ -8,9 +8,12 @@ static const char * TAG = "automatedArmchair";
|
||||
//=============================
|
||||
//======== constructor ========
|
||||
//=============================
|
||||
automatedArmchair::automatedArmchair(void) {
|
||||
//create command queue
|
||||
commandQueue = xQueueCreate( 32, sizeof( commandSimple_t ) ); //TODO add max size to config?
|
||||
automatedArmchair_c::automatedArmchair_c(controlledMotor *motorLeft_f, controlledMotor *motorRight_f)
|
||||
{
|
||||
motorLeft = motorLeft_f;
|
||||
motorRight = motorRight_f;
|
||||
// create command queue
|
||||
commandQueue = xQueueCreate(32, sizeof(commandSimple_t)); // TODO add max size to config?
|
||||
}
|
||||
|
||||
|
||||
@ -18,7 +21,7 @@ automatedArmchair::automatedArmchair(void) {
|
||||
//==============================
|
||||
//====== generateCommands ======
|
||||
//==============================
|
||||
motorCommands_t automatedArmchair::generateCommands(auto_instruction_t * instruction) {
|
||||
motorCommands_t automatedArmchair_c::generateCommands(auto_instruction_t * instruction) {
|
||||
//reset instruction
|
||||
*instruction = auto_instruction_t::NONE;
|
||||
//check if previous command is finished
|
||||
@ -29,10 +32,10 @@ motorCommands_t automatedArmchair::generateCommands(auto_instruction_t * instruc
|
||||
//copy instruction to be provided to control task
|
||||
*instruction = cmdCurrent.instruction;
|
||||
//set acceleration / fading parameters according to command
|
||||
motorLeft.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
|
||||
motorRight.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
|
||||
motorLeft.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
|
||||
motorRight.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
|
||||
motorLeft->setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
|
||||
motorRight->setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
|
||||
motorLeft->setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
|
||||
motorRight->setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
|
||||
//calculate timestamp the command is finished
|
||||
timestampCmdFinished = esp_log_timestamp() + cmdCurrent.msDuration;
|
||||
//copy the new commands
|
||||
@ -55,7 +58,7 @@ motorCommands_t automatedArmchair::generateCommands(auto_instruction_t * instruc
|
||||
//======== addCommand ========
|
||||
//============================
|
||||
//function that adds a basic command to the queue
|
||||
void automatedArmchair::addCommand(commandSimple_t command) {
|
||||
void automatedArmchair_c::addCommand(commandSimple_t command) {
|
||||
//add command to queue
|
||||
if ( xQueueSend( commandQueue, ( void * )&command, ( TickType_t ) 0 ) ){
|
||||
ESP_LOGI(TAG, "Successfully inserted command to queue");
|
||||
@ -64,7 +67,7 @@ void automatedArmchair::addCommand(commandSimple_t command) {
|
||||
}
|
||||
}
|
||||
|
||||
void automatedArmchair::addCommands(commandSimple_t commands[], size_t count) {
|
||||
void automatedArmchair_c::addCommands(commandSimple_t commands[], size_t count) {
|
||||
for (int i = 0; i < count; i++) {
|
||||
ESP_LOGI(TAG, "Reading command no. %d from provided array", i);
|
||||
addCommand(commands[i]);
|
||||
@ -77,7 +80,7 @@ void automatedArmchair::addCommands(commandSimple_t commands[], size_t count) {
|
||||
//===============================
|
||||
//function that deletes all pending/queued commands
|
||||
//e.g. when switching modes
|
||||
motorCommands_t automatedArmchair::clearCommands() {
|
||||
motorCommands_t automatedArmchair_c::clearCommands() {
|
||||
//clear command queue
|
||||
xQueueReset( commandQueue );
|
||||
ESP_LOGW(TAG, "command queue was successfully emptied");
|
||||
|
||||
@ -33,13 +33,13 @@ typedef struct commandSimple_t{
|
||||
|
||||
|
||||
//------------------------------------
|
||||
//----- automatedArmchair class -----
|
||||
//----- automatedArmchair_c class -----
|
||||
//------------------------------------
|
||||
class automatedArmchair {
|
||||
class automatedArmchair_c {
|
||||
public:
|
||||
//--- methods ---
|
||||
//constructor
|
||||
automatedArmchair(void);
|
||||
automatedArmchair_c(controlledMotor * motorLeft, controlledMotor * motorRight);
|
||||
//function to generate motor commands
|
||||
//can be also seen as handle function
|
||||
//TODO: go with other approach: separate task for handling auto mode
|
||||
@ -62,6 +62,8 @@ class automatedArmchair {
|
||||
private:
|
||||
//--- methods ---
|
||||
//--- objects ---
|
||||
controlledMotor * motorLeft;
|
||||
controlledMotor * motorRight;
|
||||
//TODO: add buzzer here
|
||||
//--- variables ---
|
||||
//queue for storing pending commands
|
||||
@ -124,7 +126,7 @@ if (trigger){
|
||||
.instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE
|
||||
};
|
||||
|
||||
//send commands to automatedArmchair command queue
|
||||
//send commands to automatedArmchair_c command queue
|
||||
armchair.addCommands(cmds, 3);
|
||||
|
||||
//change mode to AUTO
|
||||
|
||||
@ -10,29 +10,44 @@ extern "C"
|
||||
#include "button.hpp"
|
||||
#include "encoder.hpp"
|
||||
|
||||
// tag for logging
|
||||
static const char *TAG = "button";
|
||||
|
||||
|
||||
//tag for logging
|
||||
static const char * TAG = "button";
|
||||
|
||||
|
||||
//======================================
|
||||
//============ button task =============
|
||||
//======================================
|
||||
// task that handles the button interface/commands
|
||||
void task_button(void *task_button_parameters)
|
||||
{
|
||||
task_button_parameters_t *objects = (task_button_parameters_t *)task_button_parameters;
|
||||
ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
|
||||
// create button instance
|
||||
buttonCommands commandButton(objects->control, objects->joystick, objects->encoderQueue, objects->motorLeft, objects->motorRight, objects->buzzer);
|
||||
// start handle loop
|
||||
commandButton.startHandleLoop();
|
||||
}
|
||||
|
||||
//-----------------------------
|
||||
//-------- constructor --------
|
||||
//-----------------------------
|
||||
buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, evaluatedJoystick * joystick_f, controlledArmchair * control_f, buzzer_t * buzzer_f, controlledMotor * motorLeft_f, controlledMotor * motorRight_f){
|
||||
//copy object pointers
|
||||
button = button_f;
|
||||
joystick = joystick_f;
|
||||
buttonCommands::buttonCommands(
|
||||
controlledArmchair *control_f,
|
||||
evaluatedJoystick *joystick_f,
|
||||
QueueHandle_t encoderQueue_f,
|
||||
controlledMotor *motorLeft_f,
|
||||
controlledMotor *motorRight_f,
|
||||
buzzer_t *buzzer_f)
|
||||
{
|
||||
// copy object pointers
|
||||
control = control_f;
|
||||
buzzer = buzzer_f;
|
||||
joystick = joystick_f;
|
||||
encoderQueue = encoderQueue_f;
|
||||
motorLeft = motorLeft_f;
|
||||
motorRight = motorRight_f;
|
||||
//TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)?
|
||||
buzzer = buzzer_f;
|
||||
// TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)?
|
||||
}
|
||||
|
||||
|
||||
|
||||
//----------------------------
|
||||
//--------- action -----------
|
||||
//----------------------------
|
||||
@ -40,7 +55,7 @@ buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, evaluatedJoystic
|
||||
void buttonCommands::action (uint8_t count, bool lastPressLong){
|
||||
//--- variables ---
|
||||
bool decelEnabled; //for different beeping when toggling
|
||||
commandSimple_t cmds[8]; //array for commands for automatedArmchair
|
||||
commandSimple_t cmds[8]; //array for commands for automatedArmchair_c
|
||||
|
||||
//--- get joystick position ---
|
||||
//in case joystick is used for additional cases:
|
||||
|
||||
@ -17,14 +17,13 @@
|
||||
class buttonCommands {
|
||||
public:
|
||||
//--- constructor ---
|
||||
buttonCommands (
|
||||
gpio_evaluatedSwitch * button_f,
|
||||
evaluatedJoystick * joystick_f,
|
||||
controlledArmchair * control_f,
|
||||
buzzer_t * buzzer_f,
|
||||
controlledMotor * motorLeft_f,
|
||||
controlledMotor * motorRight_f
|
||||
);
|
||||
buttonCommands(
|
||||
controlledArmchair *control_f,
|
||||
evaluatedJoystick *joystick_f,
|
||||
QueueHandle_t encoderQueue_f,
|
||||
controlledMotor * motorLeft_f,
|
||||
controlledMotor *motorRight_f,
|
||||
buzzer_t *buzzer_f);
|
||||
|
||||
//--- functions ---
|
||||
//the following function has to be started once in a separate task.
|
||||
@ -36,12 +35,12 @@ class buttonCommands {
|
||||
void action(uint8_t count, bool lastPressLong);
|
||||
|
||||
//--- objects ---
|
||||
gpio_evaluatedSwitch* button;
|
||||
evaluatedJoystick* joystick;
|
||||
controlledArmchair * control;
|
||||
buzzer_t* buzzer;
|
||||
evaluatedJoystick* joystick;
|
||||
controlledMotor * motorLeft;
|
||||
controlledMotor * motorRight;
|
||||
buzzer_t* buzzer;
|
||||
QueueHandle_t encoderQueue;
|
||||
|
||||
//--- variables ---
|
||||
uint8_t count = 0;
|
||||
@ -51,3 +50,21 @@ class buttonCommands {
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
//======================================
|
||||
//============ button task =============
|
||||
//======================================
|
||||
// struct with variables passed to task from main
|
||||
typedef struct task_button_parameters_t
|
||||
{
|
||||
controlledArmchair *control;
|
||||
evaluatedJoystick *joystick;
|
||||
QueueHandle_t encoderQueue;
|
||||
controlledMotor *motorLeft;
|
||||
controlledMotor *motorRight;
|
||||
buzzer_t *buzzer;
|
||||
} task_button_parameters_t;
|
||||
|
||||
//task that handles the button interface/commands
|
||||
void task_button( void * task_button_parameters );
|
||||
@ -1,8 +1,54 @@
|
||||
#include "config.hpp"
|
||||
// NOTE: this file is included in main.cpp only.
|
||||
// outsourced all configuration related functions and structures to this file:
|
||||
|
||||
//===================================
|
||||
//======= motor configuration =======
|
||||
//===================================
|
||||
#include "motordrivers.hpp"
|
||||
#include "motorctl.hpp"
|
||||
#include "joystick.hpp"
|
||||
#include "http.hpp"
|
||||
#include "speedsensor.hpp"
|
||||
|
||||
#include "buzzer.hpp"
|
||||
#include "control.hpp"
|
||||
#include "fan.hpp"
|
||||
#include "auto.hpp"
|
||||
#include "chairAdjust.hpp"
|
||||
|
||||
//==================================
|
||||
//======== define loglevels ========
|
||||
//==================================
|
||||
void setLoglevels(void)
|
||||
{
|
||||
// set loglevel for all tags:
|
||||
esp_log_level_set("*", ESP_LOG_WARN);
|
||||
|
||||
//--- set loglevel for individual tags ---
|
||||
esp_log_level_set("main", ESP_LOG_INFO);
|
||||
esp_log_level_set("buzzer", ESP_LOG_ERROR);
|
||||
// esp_log_level_set("motordriver", ESP_LOG_DEBUG);
|
||||
esp_log_level_set("motor-control", ESP_LOG_WARN);
|
||||
// esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
|
||||
// esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
|
||||
esp_log_level_set("button", ESP_LOG_INFO);
|
||||
esp_log_level_set("control", ESP_LOG_INFO);
|
||||
// esp_log_level_set("fan-control", ESP_LOG_INFO);
|
||||
esp_log_level_set("wifi", ESP_LOG_INFO);
|
||||
esp_log_level_set("http", ESP_LOG_INFO);
|
||||
// esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
|
||||
esp_log_level_set("display", ESP_LOG_INFO);
|
||||
// esp_log_level_set("current-sensors", ESP_LOG_INFO);
|
||||
// esp_log_level_set("speedSensor", ESP_LOG_INFO);
|
||||
esp_log_level_set("chair-adjustment", ESP_LOG_INFO);
|
||||
esp_log_level_set("menu", ESP_LOG_INFO);
|
||||
esp_log_level_set("encoder", ESP_LOG_INFO);
|
||||
}
|
||||
|
||||
//==================================
|
||||
//======== configuration ===========
|
||||
//==================================
|
||||
|
||||
//-----------------------------------
|
||||
//------- motor configuration -------
|
||||
//-----------------------------------
|
||||
/* ==> currently using other driver
|
||||
//--- configure left motor (hardware) ---
|
||||
single100a_config_t configDriverLeft = {
|
||||
@ -11,8 +57,8 @@ single100a_config_t configDriverLeft = {
|
||||
.gpio_b = GPIO_NUM_4,
|
||||
.ledc_timer = LEDC_TIMER_0,
|
||||
.ledc_channel = LEDC_CHANNEL_0,
|
||||
.aEnabledPinState = false, //-> pins inverted (mosfets)
|
||||
.bEnabledPinState = false,
|
||||
.aEnabledPinState = false, //-> pins inverted (mosfets)
|
||||
.bEnabledPinState = false,
|
||||
.resolution = LEDC_TIMER_11_BIT,
|
||||
.pwmFreq = 10000
|
||||
};
|
||||
@ -24,180 +70,114 @@ single100a_config_t configDriverRight = {
|
||||
.gpio_b = GPIO_NUM_14,
|
||||
.ledc_timer = LEDC_TIMER_1,
|
||||
.ledc_channel = LEDC_CHANNEL_1,
|
||||
.aEnabledPinState = false, //-> pin inverted (mosfet)
|
||||
.bEnabledPinState = true, //-> not inverted (direct)
|
||||
.aEnabledPinState = false, //-> pin inverted (mosfet)
|
||||
.bEnabledPinState = true, //-> not inverted (direct)
|
||||
.resolution = LEDC_TIMER_11_BIT,
|
||||
.pwmFreq = 10000
|
||||
};
|
||||
*/
|
||||
};
|
||||
*/
|
||||
|
||||
//--- configure sabertooth driver --- (controls both motors in one instance)
|
||||
sabertooth2x60_config_t sabertoothConfig = {
|
||||
.gpio_TX = GPIO_NUM_25,
|
||||
.uart_num = UART_NUM_2
|
||||
};
|
||||
.gpio_TX = GPIO_NUM_25,
|
||||
.uart_num = UART_NUM_2};
|
||||
|
||||
|
||||
//TODO add motor name string -> then use as log tag?
|
||||
// TODO add motor name string -> then use as log tag?
|
||||
//--- configure left motor (contol) ---
|
||||
motorctl_config_t configMotorControlLeft = {
|
||||
.msFadeAccel = 1500, //acceleration of the motor (ms it takes from 0% to 100%)
|
||||
.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
|
||||
.currentLimitEnabled = false,
|
||||
.currentSensor_adc = ADC1_CHANNEL_4, //GPIO32
|
||||
.currentSensor_ratedCurrent = 50,
|
||||
.msFadeAccel = 1500, // acceleration of the motor (ms it takes from 0% to 100%)
|
||||
.msFadeDecel = 1000, // deceleration of the motor (ms it takes from 100% to 0%)
|
||||
.currentLimitEnabled = false,
|
||||
.currentSensor_adc = ADC1_CHANNEL_4, // GPIO32
|
||||
.currentSensor_ratedCurrent = 50,
|
||||
.currentMax = 30,
|
||||
.deadTimeMs = 0 //minimum time motor is off between direction change
|
||||
.deadTimeMs = 0 // minimum time motor is off between direction change
|
||||
};
|
||||
|
||||
//--- configure right motor (contol) ---
|
||||
motorctl_config_t configMotorControlRight = {
|
||||
.msFadeAccel = 1500, //acceleration of the motor (ms it takes from 0% to 100%)
|
||||
.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
|
||||
.currentLimitEnabled = false,
|
||||
.currentSensor_adc = ADC1_CHANNEL_5, //GPIO33
|
||||
.currentSensor_ratedCurrent = 50,
|
||||
.msFadeAccel = 1500, // acceleration of the motor (ms it takes from 0% to 100%)
|
||||
.msFadeDecel = 1000, // deceleration of the motor (ms it takes from 100% to 0%)
|
||||
.currentLimitEnabled = false,
|
||||
.currentSensor_adc = ADC1_CHANNEL_5, // GPIO33
|
||||
.currentSensor_ratedCurrent = 50,
|
||||
.currentMax = 30,
|
||||
.deadTimeMs = 0 //minimum time motor is off between direction change
|
||||
.deadTimeMs = 0 // minimum time motor is off between direction change
|
||||
};
|
||||
|
||||
|
||||
|
||||
//==============================
|
||||
//======= control config =======
|
||||
//==============================
|
||||
//------------------------------
|
||||
//------- control config -------
|
||||
//------------------------------
|
||||
control_config_t configControl = {
|
||||
.defaultMode = controlMode_t::JOYSTICK, //default mode after startup and toggling IDLE
|
||||
//--- timeout ---
|
||||
.timeoutMs = 3*60*1000, //time of inactivity after which the mode gets switched to IDLE
|
||||
.timeoutTolerancePer = 5, //percentage the duty can vary between timeout checks considered still inactive
|
||||
.defaultMode = controlMode_t::JOYSTICK, // default mode after startup and toggling IDLE
|
||||
//--- timeout ---
|
||||
.timeoutMs = 3 * 60 * 1000, // time of inactivity after which the mode gets switched to IDLE
|
||||
.timeoutTolerancePer = 5, // percentage the duty can vary between timeout checks considered still inactive
|
||||
//--- http mode ---
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
//===============================
|
||||
//===== httpJoystick config =====
|
||||
//===============================
|
||||
//-------------------------------
|
||||
//----- httpJoystick config -----
|
||||
//-------------------------------
|
||||
httpJoystick_config_t configHttpJoystickMain{
|
||||
.toleranceZeroX_Per = 1, //percentage around joystick axis the coordinate snaps to 0
|
||||
.toleranceZeroX_Per = 1, // percentage around joystick axis the coordinate snaps to 0
|
||||
.toleranceZeroY_Per = 6,
|
||||
.toleranceEndPer = 2, //percentage before joystick end the coordinate snaps to 1/-1
|
||||
.timeoutMs = 2500 //time no new data was received before the motors get turned off
|
||||
.toleranceEndPer = 2, // percentage before joystick end the coordinate snaps to 1/-1
|
||||
.timeoutMs = 2500 // time no new data was received before the motors get turned off
|
||||
};
|
||||
|
||||
|
||||
|
||||
//======================================
|
||||
//======= joystick configuration =======
|
||||
//======================================
|
||||
//--------------------------------------
|
||||
//------- joystick configuration -------
|
||||
//--------------------------------------
|
||||
joystick_config_t configJoystick = {
|
||||
.adc_x = ADC1_CHANNEL_0, //GPIO36
|
||||
.adc_y = ADC1_CHANNEL_3, //GPIO39
|
||||
//percentage of joystick range the coordinate of the axis snaps to 0 (0-100)
|
||||
.tolerance_zeroX_per = 7, //6
|
||||
.tolerance_zeroY_per = 10, //7
|
||||
//percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100)
|
||||
.tolerance_end_per = 4,
|
||||
//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
|
||||
.adc_x = ADC1_CHANNEL_0, // GPIO36
|
||||
.adc_y = ADC1_CHANNEL_3, // GPIO39
|
||||
// percentage of joystick range the coordinate of the axis snaps to 0 (0-100)
|
||||
.tolerance_zeroX_per = 7, // 6
|
||||
.tolerance_zeroY_per = 10, // 7
|
||||
// percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100)
|
||||
.tolerance_end_per = 4,
|
||||
// threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
|
||||
.tolerance_radius = 0.09,
|
||||
|
||||
//min and max adc values of each axis, !!!AFTER INVERSION!!! is applied:
|
||||
// min and max adc values of each axis, !!!AFTER INVERSION!!! is applied:
|
||||
.x_min = 1710, //=> x=-1
|
||||
.x_max = 2980, //=> x=1
|
||||
.y_min = 1700, //=> y=-1
|
||||
.y_max = 2940, //=> y=1
|
||||
//invert adc measurement
|
||||
// invert adc measurement
|
||||
.x_inverted = true,
|
||||
.y_inverted = true
|
||||
};
|
||||
.y_inverted = true};
|
||||
|
||||
|
||||
|
||||
//============================
|
||||
//=== configure fan contol ===
|
||||
//============================
|
||||
//----------------------------
|
||||
//--- configure fan contol ---
|
||||
//----------------------------
|
||||
fan_config_t configCooling = {
|
||||
.gpio_fan = GPIO_NUM_13,
|
||||
.dutyThreshold = 40,
|
||||
.minOnMs = 1500,
|
||||
.minOffMs = 3000,
|
||||
.turnOffDelayMs = 5000,
|
||||
.minOnMs = 1500,
|
||||
.minOffMs = 3000,
|
||||
.turnOffDelayMs = 5000,
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//============================================
|
||||
//======== speed sensor configuration ========
|
||||
//============================================
|
||||
//--------------------------------------------
|
||||
//-------- speed sensor configuration --------
|
||||
//--------------------------------------------
|
||||
speedSensor_config_t speedLeft_config{
|
||||
.gpioPin = GPIO_NUM_5,
|
||||
.degreePerGroup = 360/5,
|
||||
.tireCircumferenceMeter = 210.0*3.141/1000.0,
|
||||
.directionInverted = false,
|
||||
.logName = "speedLeft",
|
||||
.gpioPin = GPIO_NUM_5,
|
||||
.degreePerGroup = 360 / 5,
|
||||
.tireCircumferenceMeter = 210.0 * 3.141 / 1000.0,
|
||||
.directionInverted = false,
|
||||
.logName = "speedLeft",
|
||||
};
|
||||
|
||||
speedSensor_config_t speedRight_config{
|
||||
.gpioPin = GPIO_NUM_14,
|
||||
.degreePerGroup = 360/12,
|
||||
.tireCircumferenceMeter = 210.0*3.141/1000.0,
|
||||
.directionInverted = true,
|
||||
.logName = "speedRight",
|
||||
.gpioPin = GPIO_NUM_14,
|
||||
.degreePerGroup = 360 / 12,
|
||||
.tireCircumferenceMeter = 210.0 * 3.141 / 1000.0,
|
||||
.directionInverted = true,
|
||||
.logName = "speedRight",
|
||||
};
|
||||
|
||||
|
||||
|
||||
//=================================
|
||||
//===== create global objects =====
|
||||
//=================================
|
||||
//TODO outsource global variables to e.g. global.cpp and only config options here?
|
||||
//create sabertooth motor driver instance
|
||||
sabertooth2x60a sabertoothDriver(sabertoothConfig);
|
||||
|
||||
|
||||
//--- controlledMotor ---
|
||||
//functions for updating the duty via certain/current driver that can then be passed to controlledMotor
|
||||
//-> makes it possible to easily use different motor drivers
|
||||
//note: ignoring warning "capture of variable 'sabertoothDriver' with non-automatic storage duration", since sabertoothDriver object does not get destroyed anywhere - no lifetime issue
|
||||
motorSetCommandFunc_t setLeftFunc = [&sabertoothDriver](motorCommand_t cmd) {
|
||||
sabertoothDriver.setLeft(cmd);
|
||||
};
|
||||
motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd) {
|
||||
sabertoothDriver.setRight(cmd);
|
||||
};
|
||||
//create controlled motor instances (motorctl.hpp)
|
||||
controlledMotor motorLeft(setLeftFunc, configMotorControlLeft);
|
||||
controlledMotor motorRight(setRightFunc, configMotorControlRight);
|
||||
|
||||
//create speedsensor instances
|
||||
speedSensor speedLeft (speedLeft_config);
|
||||
speedSensor speedRight (speedRight_config);
|
||||
|
||||
//create global joystic instance (joystick.hpp)
|
||||
evaluatedJoystick joystick(configJoystick);
|
||||
|
||||
//create global evaluated switch instance for button next to joystick
|
||||
gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_21, true, false); //pullup true, not inverted (switch to GND use pullup of controller)
|
||||
|
||||
//create buzzer object on pin 12 with gap between queued events of 100ms
|
||||
buzzer_t buzzer(GPIO_NUM_12, 100);
|
||||
|
||||
//create global httpJoystick object (http.hpp)
|
||||
httpJoystick httpJoystickMain(configHttpJoystickMain);
|
||||
|
||||
//create global control object (control.hpp)
|
||||
controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain);
|
||||
|
||||
//create global automatedArmchair object (for auto-mode) (auto.hpp)
|
||||
automatedArmchair armchair;
|
||||
|
||||
//create global objects for controlling the chair position
|
||||
// gpio_up, gpio_down, name
|
||||
cControlledRest legRest(GPIO_NUM_4, GPIO_NUM_16, "legRest");
|
||||
cControlledRest backRest(GPIO_NUM_2, GPIO_NUM_15, "backRest");
|
||||
|
||||
|
||||
|
||||
@ -13,44 +13,45 @@
|
||||
#include "speedsensor.hpp"
|
||||
#include "chairAdjust.hpp"
|
||||
|
||||
|
||||
//in IDLE mode: set loglevel for evaluatedJoystick to DEBUG
|
||||
//and repeatedly read joystick e.g. for manually calibrating / testing joystick
|
||||
//#define JOYSTICK_LOG_IN_IDLE
|
||||
|
||||
|
||||
//TODO outsource global variables to e.g. global.cpp and only config options here?
|
||||
|
||||
//create global controlledMotor instances for both motors
|
||||
extern controlledMotor motorLeft;
|
||||
extern controlledMotor motorRight;
|
||||
|
||||
//create global joystic instance
|
||||
extern evaluatedJoystick joystick;
|
||||
|
||||
//create global evaluated switch instance for button next to joystick
|
||||
extern gpio_evaluatedSwitch buttonJoystick;
|
||||
|
||||
//create global buzzer object
|
||||
extern buzzer_t buzzer;
|
||||
|
||||
//create global control object
|
||||
extern controlledArmchair control;
|
||||
|
||||
//create global automatedArmchair object (for auto-mode)
|
||||
extern automatedArmchair armchair;
|
||||
|
||||
//create global httpJoystick object
|
||||
//extern httpJoystick httpJoystickMain;
|
||||
|
||||
//configuration for fans / cooling
|
||||
extern fan_config_t configCooling;
|
||||
|
||||
//create global objects for measuring speed
|
||||
extern speedSensor speedLeft;
|
||||
extern speedSensor speedRight;
|
||||
|
||||
//create global objects for controlling the chair position
|
||||
extern cControlledRest legRest;
|
||||
extern cControlledRest backRest;
|
||||
|
||||
//
|
||||
////in IDLE mode: set loglevel for evaluatedJoystick to DEBUG
|
||||
////and repeatedly read joystick e.g. for manually calibrating / testing joystick
|
||||
////#define JOYSTICK_LOG_IN_IDLE
|
||||
//
|
||||
//
|
||||
////TODO outsource global variables to e.g. global.cpp and only config options here?
|
||||
//
|
||||
////create global controlledMotor instances for both motors
|
||||
//extern controlledMotor motorLeft;
|
||||
//extern controlledMotor motorRight;
|
||||
//
|
||||
////create global joystic instance
|
||||
//extern evaluatedJoystick joystick;
|
||||
//
|
||||
////create global evaluated switch instance for button next to joystick
|
||||
//extern gpio_evaluatedSwitch buttonJoystick;
|
||||
//
|
||||
////create global buzzer object
|
||||
//extern buzzer_t buzzer;
|
||||
//
|
||||
////create global control object
|
||||
//extern controlledArmchair control;
|
||||
//
|
||||
////create global automatedArmchair object (for auto-mode)
|
||||
//extern automatedArmchair_c armchair;
|
||||
//
|
||||
////create global httpJoystick object
|
||||
////extern httpJoystick httpJoystickMain;
|
||||
//
|
||||
////configuration for fans / cooling
|
||||
//extern fan_config_t configCooling;
|
||||
//
|
||||
////create global objects for measuring speed
|
||||
//extern speedSensor speedLeft;
|
||||
//extern speedSensor speedRight;
|
||||
//
|
||||
////create global objects for controlling the chair position
|
||||
//extern cControlledRest legRest;
|
||||
//extern cControlledRest backRest;
|
||||
//
|
||||
//
|
||||
@ -26,14 +26,17 @@ const char* controlModeStr[9] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT",
|
||||
//-----------------------------
|
||||
//-------- constructor --------
|
||||
//-----------------------------
|
||||
controlledArmchair::controlledArmchair (
|
||||
control_config_t config_f,
|
||||
buzzer_t * buzzer_f,
|
||||
controlledMotor* motorLeft_f,
|
||||
controlledMotor* motorRight_f,
|
||||
evaluatedJoystick* joystick_f,
|
||||
httpJoystick* httpJoystick_f
|
||||
){
|
||||
controlledArmchair::controlledArmchair(
|
||||
control_config_t config_f,
|
||||
buzzer_t *buzzer_f,
|
||||
controlledMotor *motorLeft_f,
|
||||
controlledMotor *motorRight_f,
|
||||
evaluatedJoystick *joystick_f,
|
||||
httpJoystick *httpJoystick_f,
|
||||
automatedArmchair_c *automatedArmchair_f,
|
||||
cControlledRest *legRest_f,
|
||||
cControlledRest *backRest_f)
|
||||
{
|
||||
|
||||
//copy configuration
|
||||
config = config_f;
|
||||
@ -43,13 +46,28 @@ controlledArmchair::controlledArmchair (
|
||||
motorRight = motorRight_f;
|
||||
joystick_l = joystick_f,
|
||||
httpJoystickMain_l = httpJoystick_f;
|
||||
automatedArmchair = automatedArmchair_f;
|
||||
legRest = legRest_f;
|
||||
backRest = backRest_f;
|
||||
//set default mode from config
|
||||
modePrevious = config.defaultMode;
|
||||
|
||||
//TODO declare / configure controlled motors here instead of config (unnecessary that button object is globally available - only used here)?
|
||||
}
|
||||
|
||||
|
||||
//=======================================
|
||||
//============ control task =============
|
||||
//=======================================
|
||||
//task that controls the armchair modes and initiates commands generation and applies them to driver
|
||||
//parameter: pointer to controlledArmchair object
|
||||
void task_control( void * pvParameters ){
|
||||
//control_task_parameters_t * objects = (control_task_parameters_t *)pvParameters;
|
||||
controlledArmchair * control = (controlledArmchair *)pvParameters;
|
||||
ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop");
|
||||
//start handle loop (control object declared in config.hpp)
|
||||
//objects->control->startHandleLoop();
|
||||
control->startHandleLoop();
|
||||
}
|
||||
|
||||
//----------------------------------
|
||||
//---------- Handle loop -----------
|
||||
@ -70,7 +88,7 @@ void controlledArmchair::startHandleLoop() {
|
||||
commands = cmds_bothMotorsIdle;
|
||||
motorRight->setTarget(commands.right.state, commands.right.duty);
|
||||
motorLeft->setTarget(commands.left.state, commands.left.duty);
|
||||
vTaskDelay(200 / portTICK_PERIOD_MS);
|
||||
vTaskDelay(300 / portTICK_PERIOD_MS);
|
||||
#ifdef JOYSTICK_LOG_IN_IDLE
|
||||
//get joystick data here (without using it)
|
||||
//since loglevel is DEBUG, calculateion details is output
|
||||
@ -132,7 +150,7 @@ void controlledArmchair::startHandleLoop() {
|
||||
case controlMode_t::AUTO:
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
//generate commands
|
||||
commands = armchair.generateCommands(&instruction);
|
||||
commands = automatedArmchair->generateCommands(&instruction);
|
||||
//--- apply commands to motors ---
|
||||
//TODO make motorctl.setTarget also accept motorcommand struct directly
|
||||
motorRight->setTarget(commands.right.state, commands.right.duty);
|
||||
@ -179,7 +197,7 @@ void controlledArmchair::startHandleLoop() {
|
||||
motorRight->setTarget(commands.right.state, commands.right.duty);
|
||||
motorLeft->setTarget(commands.left.state, commands.left.duty);
|
||||
//--- control armchair position with joystick input ---
|
||||
controlChairAdjustment(joystick_l->getData(), &legRest, &backRest);
|
||||
controlChairAdjustment(joystick_l->getData(), legRest, backRest);
|
||||
break;
|
||||
|
||||
|
||||
@ -359,21 +377,6 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
|
||||
buzzer->beep(1,200,100);
|
||||
break;
|
||||
|
||||
case controlMode_t::HTTP:
|
||||
ESP_LOGW(TAG, "switching from http mode -> disabling http and wifi");
|
||||
//stop http server
|
||||
ESP_LOGI(TAG, "disabling http server...");
|
||||
http_stop_server();
|
||||
|
||||
//FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp)
|
||||
//stop wifi
|
||||
//TODO: decide whether ap or client is currently used - which has to be disabled?
|
||||
//ESP_LOGI(TAG, "deinit wifi...");
|
||||
//wifi_deinit_client();
|
||||
//wifi_deinit_ap();
|
||||
ESP_LOGI(TAG, "done stopping http mode");
|
||||
break;
|
||||
|
||||
case controlMode_t::MASSAGE:
|
||||
ESP_LOGW(TAG, "switching from MASSAGE mode -> restoring fading, reset frozen input");
|
||||
//TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here...
|
||||
@ -401,8 +404,8 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
|
||||
case controlMode_t::ADJUST_CHAIR:
|
||||
ESP_LOGW(TAG, "switching from ADJUST_CHAIR mode => turning off adjustment motors...");
|
||||
//prevent motors from being always on in case of mode switch while joystick is not in center thus motors currently moving
|
||||
legRest.setState(REST_OFF);
|
||||
backRest.setState(REST_OFF);
|
||||
legRest->setState(REST_OFF);
|
||||
backRest->setState(REST_OFF);
|
||||
break;
|
||||
|
||||
}
|
||||
@ -427,26 +430,6 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
|
||||
buzzer->beep(4,200,100);
|
||||
break;
|
||||
|
||||
case controlMode_t::HTTP:
|
||||
ESP_LOGW(TAG, "switching to http mode -> enabling http and wifi");
|
||||
//start wifi
|
||||
//TODO: decide wether ap or client should be started
|
||||
ESP_LOGI(TAG, "init wifi...");
|
||||
|
||||
//FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp)
|
||||
//wifi_init_client();
|
||||
//wifi_init_ap();
|
||||
|
||||
//wait for wifi
|
||||
//ESP_LOGI(TAG, "waiting for wifi...");
|
||||
//vTaskDelay(1000 / portTICK_PERIOD_MS);
|
||||
|
||||
//start http server
|
||||
ESP_LOGI(TAG, "init http server...");
|
||||
http_init_server();
|
||||
ESP_LOGI(TAG, "done initializing http mode");
|
||||
break;
|
||||
|
||||
case controlMode_t::MASSAGE:
|
||||
ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading");
|
||||
uint32_t shake_msFadeAccel = 500; //TODO: move this to config
|
||||
|
||||
@ -5,6 +5,8 @@
|
||||
#include "buzzer.hpp"
|
||||
#include "http.hpp"
|
||||
#include "auto.hpp"
|
||||
#include "speedsensor.hpp"
|
||||
#include "chairAdjust.hpp"
|
||||
|
||||
|
||||
//--------------------------------------------
|
||||
@ -25,6 +27,13 @@ typedef struct control_config_t {
|
||||
} control_config_t;
|
||||
|
||||
|
||||
//=======================================
|
||||
//============ control task =============
|
||||
//=======================================
|
||||
//task that controls the armchair modes and initiates commands generation and applies them to driver
|
||||
//parameter: pointer to controlledArmchair object
|
||||
void task_control( void * pvParameters );
|
||||
|
||||
|
||||
|
||||
//==================================
|
||||
@ -41,7 +50,10 @@ class controlledArmchair {
|
||||
controlledMotor* motorLeft_f,
|
||||
controlledMotor* motorRight_f,
|
||||
evaluatedJoystick* joystick_f,
|
||||
httpJoystick* httpJoystick_f
|
||||
httpJoystick* httpJoystick_f,
|
||||
automatedArmchair_c* automatedArmchair,
|
||||
cControlledRest * legRest,
|
||||
cControlledRest * backRest
|
||||
);
|
||||
|
||||
//--- functions ---
|
||||
@ -85,6 +97,9 @@ class controlledArmchair {
|
||||
controlledMotor* motorRight;
|
||||
httpJoystick* httpJoystickMain_l;
|
||||
evaluatedJoystick* joystick_l;
|
||||
automatedArmchair_c *automatedArmchair;
|
||||
cControlledRest * legRest;
|
||||
cControlledRest * backRest;
|
||||
|
||||
//---variables ---
|
||||
//struct for motor commands returned by generate functions of each mode
|
||||
@ -103,7 +118,7 @@ class controlledArmchair {
|
||||
bool freezeInput = false;
|
||||
|
||||
//variables for AUTO mode
|
||||
auto_instruction_t instruction = auto_instruction_t::NONE; //variable to receive instructions from automatedArmchair
|
||||
auto_instruction_t instruction = auto_instruction_t::NONE; //variable to receive instructions from automatedArmchair_c
|
||||
|
||||
//variable to store button event
|
||||
uint8_t buttonCount = 0;
|
||||
|
||||
@ -204,7 +204,7 @@ float getBatteryPercent(){
|
||||
//-----------------------
|
||||
//shows overview on entire display:
|
||||
//percentage, voltage, current, mode, rpm, speed
|
||||
void showScreen1()
|
||||
void showScreen1(display_task_parameters_t * objects)
|
||||
{
|
||||
//-- battery percentage --
|
||||
// TODO update when no load (currentsensors = ~0A) only
|
||||
@ -214,24 +214,24 @@ void showScreen1()
|
||||
//-- voltage and current --
|
||||
displayTextLine(&dev, 3, false, false, "%04.1fV %04.1f:%04.1fA",
|
||||
getBatteryVoltage(),
|
||||
fabs(motorLeft.getCurrentA()),
|
||||
fabs(motorRight.getCurrentA()));
|
||||
fabs(objects->motorLeft->getCurrentA()),
|
||||
fabs(objects->motorRight->getCurrentA()));
|
||||
|
||||
//-- control state --
|
||||
//print large line
|
||||
displayTextLine(&dev, 4, true, false, "%s ", control.getCurrentModeStr());
|
||||
displayTextLine(&dev, 4, true, false, "%s ", objects->control->getCurrentModeStr());
|
||||
|
||||
//-- speed and RPM --
|
||||
displayTextLine(&dev, 7, false, false, "%3.1fkm/h %03.0f:%03.0fR",
|
||||
fabs((speedLeft.getKmph() + speedRight.getKmph()) / 2),
|
||||
speedLeft.getRpm(),
|
||||
speedRight.getRpm());
|
||||
fabs((objects->speedLeft->getKmph() + objects->speedRight->getKmph()) / 2),
|
||||
objects->speedLeft->getRpm(),
|
||||
objects->speedRight->getRpm());
|
||||
|
||||
// debug speed sensors
|
||||
ESP_LOGD(TAG, "%3.1fkm/h %03.0f:%03.0fR",
|
||||
fabs((speedLeft.getKmph() + speedRight.getKmph()) / 2),
|
||||
speedLeft.getRpm(),
|
||||
speedRight.getRpm());
|
||||
fabs((objects->speedLeft->getKmph() + objects->speedRight->getKmph()) / 2),
|
||||
objects->speedLeft->getRpm(),
|
||||
objects->speedRight->getRpm());
|
||||
}
|
||||
|
||||
|
||||
@ -264,6 +264,9 @@ void showStartupMsg(){
|
||||
|
||||
void display_task(void *pvParameters)
|
||||
{
|
||||
//get struct with pointers to all needed global objects from task parameter
|
||||
display_task_parameters_t *objects = (display_task_parameters_t *)pvParameters;
|
||||
|
||||
// initialize display
|
||||
display_init();
|
||||
// TODO check if successfully initialized
|
||||
@ -276,14 +279,14 @@ void display_task(void *pvParameters)
|
||||
// repeatedly update display with content
|
||||
while (1)
|
||||
{
|
||||
if (control.getCurrentMode() == controlMode_t::MENU)
|
||||
if (objects->control->getCurrentMode() == controlMode_t::MENU)
|
||||
{
|
||||
//uses encoder events to control menu and updates display
|
||||
handleMenu(&dev);
|
||||
handleMenu(objects, &dev);
|
||||
}
|
||||
else //show status screen in any other mode
|
||||
{
|
||||
showScreen1();
|
||||
showScreen1(objects);
|
||||
vTaskDelay(STATUS_SCREEN_UPDATE_INTERVAL / portTICK_PERIOD_MS);
|
||||
}
|
||||
// TODO add pages and menus
|
||||
|
||||
@ -13,7 +13,22 @@ extern "C" {
|
||||
#include "font8x8_basic.h"
|
||||
}
|
||||
|
||||
#include "config.hpp"
|
||||
|
||||
#include "joystick.hpp"
|
||||
#include "control.hpp"
|
||||
#include "speedsensor.hpp"
|
||||
|
||||
// struct with variables passed to task from main()
|
||||
typedef struct display_task_parameters_t {
|
||||
controlledArmchair * control;
|
||||
evaluatedJoystick * joystick;
|
||||
QueueHandle_t encoderQueue;
|
||||
controlledMotor * motorLeft;
|
||||
controlledMotor * motorRight;
|
||||
speedSensor * speedLeft;
|
||||
speedSensor * speedRight;
|
||||
buzzer_t *buzzer;
|
||||
} display_task_parameters_t;
|
||||
|
||||
|
||||
//task that inititialized the display, displays welcome message
|
||||
|
||||
@ -39,11 +39,17 @@ rotary_encoder_t encoderConfig = {
|
||||
//==================================
|
||||
//========== encoder_init ==========
|
||||
//==================================
|
||||
//initialize encoder
|
||||
void encoder_init(){
|
||||
encoderQueue = xQueueCreate(QUEUE_SIZE, sizeof(rotary_encoder_event_t));
|
||||
//initialize encoder //TODO pass config to this function
|
||||
QueueHandle_t encoder_init()
|
||||
{
|
||||
QueueHandle_t encoderQueue = xQueueCreate(QUEUE_SIZE, sizeof(rotary_encoder_event_t));
|
||||
rotary_encoder_init(encoderQueue);
|
||||
rotary_encoder_add(&encoderConfig);
|
||||
if (encoderQueue == NULL)
|
||||
ESP_LOGE(TAG, "Error initializing encoder or queue");
|
||||
else
|
||||
ESP_LOGW(TAG, "Initialized encoder and encoderQueue");
|
||||
return encoderQueue;
|
||||
}
|
||||
|
||||
|
||||
@ -52,7 +58,9 @@ void encoder_init(){
|
||||
//====== task_encoderExample =======
|
||||
//==================================
|
||||
//receive and handle all available encoder events
|
||||
void task_encoderExample(void *arg) {
|
||||
void task_encoderExample(void * arg) {
|
||||
//get queue with encoder events from task parameter:
|
||||
QueueHandle_t encoderQueue = (QueueHandle_t)arg;
|
||||
static rotary_encoder_event_t ev; //store event data
|
||||
while (1) {
|
||||
if (xQueueReceive(encoderQueue, &ev, portMAX_DELAY)) {
|
||||
|
||||
@ -10,11 +10,11 @@ extern "C" {
|
||||
#define PIN_B GPIO_NUM_26
|
||||
#define PIN_BUTTON GPIO_NUM_27
|
||||
|
||||
//global encoder queue
|
||||
extern QueueHandle_t encoderQueue;
|
||||
|
||||
//init encoder with config in encoder.cpp
|
||||
void encoder_init();
|
||||
QueueHandle_t encoder_init(); //TODO pass config to function
|
||||
|
||||
|
||||
//task that handles encoder events
|
||||
void task_encoderExample(void *arg);
|
||||
//note: queue obtained from encoder_init() has to be passed to that task
|
||||
void task_encoderExample(void *encoderQueue);
|
||||
//example: xTaskCreate(&task_encoderExample, "task_buzzer", 2048, encoderQueue, 2, NULL);
|
||||
@ -1,6 +1,3 @@
|
||||
#include "hal/uart_types.h"
|
||||
#include "motordrivers.hpp"
|
||||
#include "types.hpp"
|
||||
extern "C"
|
||||
{
|
||||
#include <stdio.h>
|
||||
@ -14,44 +11,88 @@ extern "C"
|
||||
#include "sdkconfig.h"
|
||||
#include "esp_spiffs.h"
|
||||
|
||||
#include "driver/ledc.h"
|
||||
|
||||
//custom C files
|
||||
#include "wifi.h"
|
||||
}
|
||||
|
||||
//custom C++ files
|
||||
//folder common
|
||||
#include "uart_common.hpp"
|
||||
#include "motordrivers.hpp"
|
||||
#include "http.hpp"
|
||||
#include "types.hpp"
|
||||
#include "speedsensor.hpp"
|
||||
#include "motorctl.hpp"
|
||||
|
||||
//folder single_board
|
||||
#include "config.hpp"
|
||||
#include "control.hpp"
|
||||
#include "button.hpp"
|
||||
#include "http.hpp"
|
||||
|
||||
#include "uart_common.hpp"
|
||||
|
||||
#include "display.hpp"
|
||||
#include "encoder.hpp"
|
||||
|
||||
|
||||
//only extends this file (no library):
|
||||
//outsourced all configuration related structures
|
||||
#include "config.cpp"
|
||||
|
||||
|
||||
|
||||
//================================
|
||||
//======== declarations ==========
|
||||
//================================
|
||||
//--- declare all pointers to shared objects ---
|
||||
controlledMotor *motorLeft;
|
||||
controlledMotor *motorRight;
|
||||
|
||||
sabertooth2x60a *sabertoothDriver;
|
||||
|
||||
evaluatedJoystick *joystick;
|
||||
|
||||
buzzer_t *buzzer;
|
||||
|
||||
controlledArmchair *control;
|
||||
|
||||
automatedArmchair_c *automatedArmchair;
|
||||
|
||||
httpJoystick *httpJoystickMain;
|
||||
|
||||
speedSensor *speedLeft;
|
||||
speedSensor *speedRight;
|
||||
|
||||
cControlledRest *legRest;
|
||||
cControlledRest *backRest;
|
||||
|
||||
|
||||
//--- lambda functions motor-driver ---
|
||||
// functions for updating the duty via currently used motor driver (hardware) that can then be passed to controlledMotor
|
||||
//-> makes it possible to easily use different motor drivers
|
||||
motorSetCommandFunc_t setLeftFunc = [&sabertoothDriver](motorCommand_t cmd)
|
||||
{
|
||||
sabertoothDriver->setLeft(cmd);
|
||||
};
|
||||
motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd)
|
||||
{
|
||||
sabertoothDriver->setRight(cmd);
|
||||
};
|
||||
|
||||
//--- lambda function http-joystick ---
|
||||
// function that initializes the http server requires a function pointer to function that handels each url
|
||||
// the httpd_uri config struct does not accept a pointer to a method of a class instance, directly
|
||||
// thus this lambda function is necessary:
|
||||
// declare pointer to receiveHttpData method of httpJoystick class
|
||||
esp_err_t (httpJoystick::*pointerToReceiveFunc)(httpd_req_t *req) = &httpJoystick::receiveHttpData;
|
||||
esp_err_t on_joystick_url(httpd_req_t *req)
|
||||
{
|
||||
// run pointer to receiveHttpData function of httpJoystickMain instance
|
||||
return (httpJoystickMain->*pointerToReceiveFunc)(req);
|
||||
}
|
||||
|
||||
//tag for logging
|
||||
static const char * TAG = "main";
|
||||
|
||||
|
||||
|
||||
//====================================
|
||||
//========== motorctl task ===========
|
||||
//====================================
|
||||
//task for handling the motors (ramp, current limit, driver)
|
||||
void task_motorctl( void * pvParameters ){
|
||||
ESP_LOGI(TAG, "starting handle loop...");
|
||||
while(1){
|
||||
motorRight.handle();
|
||||
motorLeft.handle();
|
||||
//10khz -> T=100us
|
||||
vTaskDelay(10 / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//======================================
|
||||
//============ buzzer task =============
|
||||
//======================================
|
||||
@ -61,33 +102,7 @@ void task_buzzer( void * pvParameters ){
|
||||
ESP_LOGI("task_buzzer", "Start of buzzer task...");
|
||||
//run function that waits for a beep events to arrive in the queue
|
||||
//and processes them
|
||||
buzzer.processQueue();
|
||||
}
|
||||
|
||||
|
||||
|
||||
//=======================================
|
||||
//============ control task =============
|
||||
//=======================================
|
||||
//task that controls the armchair modes and initiates commands generation and applies them to driver
|
||||
void task_control( void * pvParameters ){
|
||||
ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop");
|
||||
//start handle loop (control object declared in config.hpp)
|
||||
control.startHandleLoop();
|
||||
}
|
||||
|
||||
|
||||
|
||||
//======================================
|
||||
//============ button task =============
|
||||
//======================================
|
||||
//task that handles the button interface/commands
|
||||
void task_button( void * pvParameters ){
|
||||
ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
|
||||
//create button instance
|
||||
buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight);
|
||||
//start handle loop
|
||||
commandButton.startHandleLoop();
|
||||
buzzer->processQueue();
|
||||
}
|
||||
|
||||
|
||||
@ -95,11 +110,12 @@ void task_button( void * pvParameters ){
|
||||
//=======================================
|
||||
//============== fan task ===============
|
||||
//=======================================
|
||||
//TODO: move this definition to fan.cpp
|
||||
//task that controlls fans for cooling the drivers
|
||||
void task_fans( void * pvParameters ){
|
||||
ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
|
||||
//create fan instances with config defined in config.cpp
|
||||
controlledFan fan(configCooling, &motorLeft, &motorRight);
|
||||
controlledFan fan(configCooling, motorLeft, motorRight);
|
||||
//repeatedly run fan handle function in a slow loop
|
||||
while(1){
|
||||
fan.handle();
|
||||
@ -132,31 +148,54 @@ void init_spiffs(){
|
||||
|
||||
|
||||
|
||||
//==================================
|
||||
//======== define loglevels ========
|
||||
//==================================
|
||||
void setLoglevels(void){
|
||||
//set loglevel for all tags:
|
||||
esp_log_level_set("*", ESP_LOG_WARN);
|
||||
|
||||
//--- set loglevel for individual tags ---
|
||||
esp_log_level_set("main", ESP_LOG_INFO);
|
||||
esp_log_level_set("buzzer", ESP_LOG_ERROR);
|
||||
//esp_log_level_set("motordriver", ESP_LOG_DEBUG);
|
||||
//esp_log_level_set("motor-control", ESP_LOG_INFO);
|
||||
//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
|
||||
//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
|
||||
esp_log_level_set("button", ESP_LOG_INFO);
|
||||
esp_log_level_set("control", ESP_LOG_INFO);
|
||||
//esp_log_level_set("fan-control", ESP_LOG_INFO);
|
||||
esp_log_level_set("wifi", ESP_LOG_INFO);
|
||||
esp_log_level_set("http", ESP_LOG_INFO);
|
||||
//esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
|
||||
esp_log_level_set("display", ESP_LOG_INFO);
|
||||
//esp_log_level_set("current-sensors", ESP_LOG_INFO);
|
||||
//esp_log_level_set("speedSensor", ESP_LOG_INFO);
|
||||
esp_log_level_set("chair-adjustment", ESP_LOG_INFO);
|
||||
esp_log_level_set("menu", ESP_LOG_INFO);
|
||||
|
||||
//=================================
|
||||
//========= createObjects =========
|
||||
//=================================
|
||||
//create all shared objects
|
||||
//their references can be passed to the tasks that need access in main
|
||||
|
||||
//Note: the configuration structures (e.g. configMotorControlLeft) are outsourced to file 'config.cpp'
|
||||
|
||||
void createObjects()
|
||||
{
|
||||
// create sabertooth motor driver instance
|
||||
// sabertooth2x60a sabertoothDriver(sabertoothConfig);
|
||||
// with configuration above
|
||||
sabertoothDriver = new sabertooth2x60a(sabertoothConfig);
|
||||
|
||||
// create controlled motor instances (motorctl.hpp)
|
||||
// with configurations above
|
||||
motorLeft = new controlledMotor(setLeftFunc, configMotorControlLeft);
|
||||
motorRight = new controlledMotor(setRightFunc, configMotorControlRight);
|
||||
|
||||
// create speedsensor instances
|
||||
// with configurations above
|
||||
speedLeft = new speedSensor(speedLeft_config);
|
||||
speedRight = new speedSensor(speedRight_config);
|
||||
|
||||
// create joystic instance (joystick.hpp)
|
||||
joystick = new evaluatedJoystick(configJoystick);
|
||||
|
||||
// create httpJoystick object (http.hpp)
|
||||
httpJoystickMain = new httpJoystick(configHttpJoystickMain);
|
||||
http_init_server(on_joystick_url);
|
||||
|
||||
// create buzzer object on pin 12 with gap between queued events of 100ms
|
||||
buzzer = new buzzer_t(GPIO_NUM_12, 100);
|
||||
|
||||
// create control object (control.hpp)
|
||||
// with configuration above
|
||||
control = new controlledArmchair(configControl, buzzer, motorLeft, motorRight, joystick, httpJoystickMain, automatedArmchair, legRest, backRest);
|
||||
|
||||
// create automatedArmchair_c object (for auto-mode) (auto.hpp)
|
||||
automatedArmchair = new automatedArmchair_c(motorLeft, motorRight);
|
||||
|
||||
// create objects for controlling the chair position
|
||||
// gpio_up, gpio_down, name
|
||||
legRest = new cControlledRest(GPIO_NUM_4, GPIO_NUM_16, "legRest");
|
||||
backRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "backRest");
|
||||
}
|
||||
|
||||
|
||||
@ -166,25 +205,53 @@ void setLoglevels(void){
|
||||
//=========== app_main ============
|
||||
//=================================
|
||||
extern "C" void app_main(void) {
|
||||
//enable 5V volate regulator
|
||||
|
||||
ESP_LOGW(TAG, "===== INITIALIZING COMPONENTS =====");
|
||||
//--- define log levels ---
|
||||
setLoglevels();
|
||||
|
||||
//--- enable 5V volate regulator ---
|
||||
ESP_LOGW(TAG, "enabling 5V regulator...");
|
||||
gpio_pad_select_gpio(GPIO_NUM_17);
|
||||
gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
|
||||
gpio_set_level(GPIO_NUM_17, 1);
|
||||
|
||||
//---- define log levels ----
|
||||
setLoglevels();
|
||||
//--- initialize nvs-flash and netif (needed for wifi) ---
|
||||
wifi_initNvs_initNetif();
|
||||
|
||||
//--- initialize spiffs ---
|
||||
init_spiffs();
|
||||
|
||||
//--- initialize and start wifi ---
|
||||
ESP_LOGD(TAG,"starting wifi...");
|
||||
//wifi_init_client(); //connect to existing wifi
|
||||
wifi_init_ap(); //start access point
|
||||
ESP_LOGD(TAG,"done starting wifi");
|
||||
|
||||
// init encoder
|
||||
//--- initialize encoder ---
|
||||
encoder_init();
|
||||
// now global encoderQueue providing all encoder events is available
|
||||
const QueueHandle_t encoderQueue = encoder_init();
|
||||
|
||||
|
||||
|
||||
//--- create all objects ---
|
||||
ESP_LOGW(TAG, "===== CREATING SHARED OBJECTS =====");
|
||||
|
||||
//create all class instances used below
|
||||
//see 'createObjects.hpp'
|
||||
createObjects();
|
||||
|
||||
|
||||
|
||||
#ifndef ENCODER_TEST
|
||||
//--- create tasks ---
|
||||
ESP_LOGW(TAG, "===== CREATING TASKS =====");
|
||||
|
||||
//----------------------------------------------
|
||||
//--- create task for controlling the motors ---
|
||||
//----------------------------------------------
|
||||
//task that receives commands, handles ramp and current limit and executes commands using the motordriver function
|
||||
xTaskCreate(&task_motorctl, "task_motor-control", 2*4096, NULL, 6, NULL);
|
||||
task_motorctl_parameters_t motorctl_param = {motorLeft, motorRight};
|
||||
xTaskCreate(&task_motorctl, "task_motor-control", 2*4096, &motorctl_param, 6, NULL);
|
||||
|
||||
//------------------------------
|
||||
//--- create task for buzzer ---
|
||||
@ -195,46 +262,38 @@ extern "C" void app_main(void) {
|
||||
//--- create task for control ---
|
||||
//-------------------------------
|
||||
//task that generates motor commands depending on the current mode and sends those to motorctl task
|
||||
xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
|
||||
//note: pointer to shared object 'control' is passed as task parameter:
|
||||
xTaskCreate(&task_control, "task_control", 4096, control, 5, NULL);
|
||||
|
||||
//------------------------------
|
||||
//--- create task for button ---
|
||||
//------------------------------
|
||||
//task that evaluates and processes the button input and runs the configured commands
|
||||
xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
|
||||
//task that handles button/encoder events in any mode except 'MENU' (e.g. switch modes by pressing certain count)
|
||||
task_button_parameters_t button_param = {control, joystick, encoderQueue, motorLeft, motorRight, buzzer};
|
||||
xTaskCreate(&task_button, "task_button", 4096, &button_param, 4, NULL);
|
||||
|
||||
//-----------------------------------
|
||||
//--- create task for fan control ---
|
||||
//-----------------------------------
|
||||
//task that evaluates and processes the button input and runs the configured commands
|
||||
//task that controls cooling fans of the motor driver
|
||||
xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
|
||||
|
||||
|
||||
//-----------------------------------
|
||||
//----- create task for display -----
|
||||
//-----------------------------------
|
||||
//task that handles the display
|
||||
xTaskCreate(&display_task, "display_task", 3*2048, NULL, 1, NULL);
|
||||
////task that handles the display (show stats, handle menu in 'MENU' mode)
|
||||
display_task_parameters_t display_param = {control, joystick, encoderQueue, motorLeft, motorRight, speedLeft, speedRight, buzzer};
|
||||
xTaskCreate(&display_task, "display_task", 3*2048, &display_param, 1, NULL);
|
||||
|
||||
|
||||
//beep at startup
|
||||
buzzer.beep(3, 70, 50);
|
||||
#endif
|
||||
|
||||
//--- initialize nvs-flash and netif (needed for wifi) ---
|
||||
wifi_initNvs_initNetif();
|
||||
|
||||
//--- initialize spiffs ---
|
||||
init_spiffs();
|
||||
|
||||
//--- initialize and start wifi ---
|
||||
//FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
|
||||
//currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
|
||||
//when calling control.changeMode(http) from main.cpp it worked without error for some reason?
|
||||
ESP_LOGI(TAG,"starting wifi...");
|
||||
//wifi_init_client(); //connect to existing wifi
|
||||
wifi_init_ap(); //start access point
|
||||
ESP_LOGI(TAG,"done starting wifi");
|
||||
//--- startup finished ---
|
||||
ESP_LOGW(TAG, "===== STARTUP FINISHED =====");
|
||||
buzzer->beep(3, 70, 50);
|
||||
|
||||
//--- testing encoder ---
|
||||
//xTaskCreate(&task_encoderExample, "task_buzzer", 2048, encoderQueue, 2, NULL);
|
||||
|
||||
//--- testing http server ---
|
||||
// wifi_init_client(); //connect to existing wifi
|
||||
@ -243,8 +302,8 @@ extern "C" void app_main(void) {
|
||||
// http_init_server();
|
||||
|
||||
|
||||
//--- testing force http mode after startup ---
|
||||
//control.changeMode(controlMode_t::HTTP);
|
||||
//--- testing force specific mode after startup ---
|
||||
//control->changeMode(controlMode_t::MENU);
|
||||
|
||||
|
||||
|
||||
|
||||
@ -30,12 +30,14 @@ static int value = 0;
|
||||
//#########################
|
||||
//#### center Joystick ####
|
||||
//#########################
|
||||
void item_centerJoystick_action(int value, SSD1306_t * display){
|
||||
void item_centerJoystick_action(display_task_parameters_t * objects, SSD1306_t * display, int value){
|
||||
if (!value) return;
|
||||
ESP_LOGW(TAG, "defining joystick center");
|
||||
joystick.defineCenter();
|
||||
(*objects).joystick->defineCenter();
|
||||
//objects->joystick->defineCenter();
|
||||
//joystick->defineCenter();
|
||||
}
|
||||
int item_centerJoystick_value(){
|
||||
int item_centerJoystick_value(display_task_parameters_t * objects){
|
||||
return 1;
|
||||
}
|
||||
|
||||
@ -59,7 +61,7 @@ menuItem_t item_centerJoystick = {
|
||||
//#### debug Joystick ####
|
||||
//########################
|
||||
//continously show/update joystick data on display
|
||||
void item_debugJoystick_action(int value, SSD1306_t * display)
|
||||
void item_debugJoystick_action(display_task_parameters_t * objects, SSD1306_t * display, int value)
|
||||
{
|
||||
//--- variables ---
|
||||
bool running = true;
|
||||
@ -77,10 +79,10 @@ void item_debugJoystick_action(int value, SSD1306_t * display)
|
||||
|
||||
//-- show/update values --
|
||||
// stop when button pressed or control state changes (timeouts to IDLE)
|
||||
while (running && control.getCurrentMode() == controlMode_t::MENU)
|
||||
while (running && objects->control->getCurrentMode() == controlMode_t::MENU)
|
||||
{
|
||||
// repeatedly print all joystick data
|
||||
joystickData_t data = joystick.getData();
|
||||
joystickData_t data = objects->joystick->getData();
|
||||
displayTextLine(display, 1, false, false, "x = %.3f ", data.x);
|
||||
displayTextLine(display, 2, false, false, "y = %.3f ", data.y);
|
||||
displayTextLine(display, 3, false, false, "radius = %.3f", data.radius);
|
||||
@ -88,7 +90,7 @@ void item_debugJoystick_action(int value, SSD1306_t * display)
|
||||
displayTextLine(display, 5, false, false, "pos=%-12s ", joystickPosStr[(int)data.position]);
|
||||
|
||||
// exit when button pressed
|
||||
if (xQueueReceive(encoderQueue, &event, 20 / portTICK_PERIOD_MS))
|
||||
if (xQueueReceive(objects->encoderQueue, &event, 20 / portTICK_PERIOD_MS))
|
||||
{
|
||||
switch (event.type)
|
||||
{
|
||||
@ -105,7 +107,7 @@ void item_debugJoystick_action(int value, SSD1306_t * display)
|
||||
}
|
||||
}
|
||||
|
||||
int item_debugJoystick_value(){
|
||||
int item_debugJoystick_value(display_task_parameters_t * objects){
|
||||
return 1;
|
||||
}
|
||||
|
||||
@ -128,12 +130,12 @@ menuItem_t item_debugJoystick = {
|
||||
//########################
|
||||
//##### set max duty #####
|
||||
//########################
|
||||
void maxDuty_action(int value, SSD1306_t * display)
|
||||
void maxDuty_action(display_task_parameters_t * objects, SSD1306_t * display, int value)
|
||||
{
|
||||
//TODO actually store the value
|
||||
ESP_LOGW(TAG, "set max duty to %d", value);
|
||||
}
|
||||
int maxDuty_currentValue()
|
||||
int maxDuty_currentValue(display_task_parameters_t * objects)
|
||||
{
|
||||
//TODO get real current value
|
||||
return 84;
|
||||
@ -156,14 +158,14 @@ menuItem_t item_maxDuty = {
|
||||
//######################
|
||||
//##### accelLimit #####
|
||||
//######################
|
||||
void item_accelLimit_action(int value, SSD1306_t * display)
|
||||
void item_accelLimit_action(display_task_parameters_t * objects, SSD1306_t * display, int value)
|
||||
{
|
||||
motorLeft.setFade(fadeType_t::ACCEL, (uint32_t)value);
|
||||
motorRight.setFade(fadeType_t::ACCEL, (uint32_t)value);
|
||||
objects->motorLeft->setFade(fadeType_t::ACCEL, (uint32_t)value);
|
||||
objects->motorRight->setFade(fadeType_t::ACCEL, (uint32_t)value);
|
||||
}
|
||||
int item_accelLimit_value()
|
||||
int item_accelLimit_value(display_task_parameters_t * objects)
|
||||
{
|
||||
return motorLeft.getFade(fadeType_t::ACCEL);
|
||||
return objects->motorLeft->getFade(fadeType_t::ACCEL);
|
||||
}
|
||||
menuItem_t item_accelLimit = {
|
||||
item_accelLimit_action, // function action
|
||||
@ -183,14 +185,14 @@ menuItem_t item_accelLimit = {
|
||||
// ######################
|
||||
// ##### decelLimit #####
|
||||
// ######################
|
||||
void item_decelLimit_action(int value, SSD1306_t * display)
|
||||
void item_decelLimit_action(display_task_parameters_t * objects, SSD1306_t * display, int value)
|
||||
{
|
||||
motorLeft.setFade(fadeType_t::DECEL, (uint32_t)value);
|
||||
motorRight.setFade(fadeType_t::DECEL, (uint32_t)value);
|
||||
objects->motorLeft->setFade(fadeType_t::DECEL, (uint32_t)value);
|
||||
objects->motorRight->setFade(fadeType_t::DECEL, (uint32_t)value);
|
||||
}
|
||||
int item_decelLimit_value()
|
||||
int item_decelLimit_value(display_task_parameters_t * objects)
|
||||
{
|
||||
return motorLeft.getFade(fadeType_t::DECEL);
|
||||
return objects->motorLeft->getFade(fadeType_t::DECEL);
|
||||
}
|
||||
menuItem_t item_decelLimit = {
|
||||
item_decelLimit_action, // function action
|
||||
@ -210,11 +212,11 @@ menuItem_t item_decelLimit = {
|
||||
//#####################
|
||||
//###### example ######
|
||||
//#####################
|
||||
void item_example_action(int value, SSD1306_t * display)
|
||||
void item_example_action(display_task_parameters_t * objects, SSD1306_t * display, int value)
|
||||
{
|
||||
return;
|
||||
}
|
||||
int item_example_value(){
|
||||
int item_example_value(display_task_parameters_t * objects){
|
||||
return 53;
|
||||
}
|
||||
menuItem_t item_example = {
|
||||
@ -342,7 +344,7 @@ void showValueSelect(SSD1306_t *display, int selectedItem)
|
||||
//function is repeatedly called by display task when in menu state
|
||||
#define QUEUE_TIMEOUT 3000 //timeout no encoder event - to handle timeout and not block the display loop
|
||||
#define MENU_TIMEOUT 60000 //inactivity timeout (switch to IDLE mode)
|
||||
void handleMenu(SSD1306_t *display)
|
||||
void handleMenu(display_task_parameters_t * objects, SSD1306_t *display)
|
||||
{
|
||||
static uint32_t lastActivity = 0;
|
||||
static int selectedItem = 0;
|
||||
@ -358,7 +360,7 @@ void handleMenu(SSD1306_t *display)
|
||||
// update display
|
||||
showItemList(display, selectedItem); // shows list of items with currently selected one on display
|
||||
// wait for encoder event
|
||||
if (xQueueReceive(encoderQueue, &event, QUEUE_TIMEOUT / portTICK_PERIOD_MS))
|
||||
if (xQueueReceive(objects->encoderQueue, &event, QUEUE_TIMEOUT / portTICK_PERIOD_MS))
|
||||
{
|
||||
lastActivity = esp_log_timestamp();
|
||||
switch (event.type)
|
||||
@ -387,7 +389,7 @@ void handleMenu(SSD1306_t *display)
|
||||
// change state (menu to set value)
|
||||
menuState = SET_VALUE;
|
||||
// get currently configured value
|
||||
value = menuItems[selectedItem].currentValue();
|
||||
value = menuItems[selectedItem].currentValue(objects);
|
||||
// clear display
|
||||
ssd1306_clear_screen(display, false);
|
||||
break;
|
||||
@ -395,7 +397,7 @@ void handleMenu(SSD1306_t *display)
|
||||
//exit menu mode
|
||||
case RE_ET_BTN_LONG_PRESSED:
|
||||
//change to previous mode (e.g. JOYSTICK)
|
||||
control.toggleMode(controlMode_t::MENU); //currently already in MENU -> changes to previous mode
|
||||
objects->control->toggleMode(controlMode_t::MENU); //currently already in MENU -> changes to previous mode
|
||||
ssd1306_clear_screen(display, false);
|
||||
break;
|
||||
|
||||
@ -413,7 +415,7 @@ void handleMenu(SSD1306_t *display)
|
||||
// wait for encoder event
|
||||
showValueSelect(display, selectedItem);
|
||||
|
||||
if (xQueueReceive(encoderQueue, &event, QUEUE_TIMEOUT / portTICK_PERIOD_MS))
|
||||
if (xQueueReceive(objects->encoderQueue, &event, QUEUE_TIMEOUT / portTICK_PERIOD_MS))
|
||||
{
|
||||
lastActivity = esp_log_timestamp();
|
||||
switch (event.type)
|
||||
@ -434,7 +436,7 @@ void handleMenu(SSD1306_t *display)
|
||||
case RE_ET_BTN_CLICKED:
|
||||
//-- apply value --
|
||||
ESP_LOGI(TAG, "Button pressed - running action function with value=%d for item '%s'", value, menuItems[selectedItem].title);
|
||||
menuItems[selectedItem].action(value, display);
|
||||
menuItems[selectedItem].action(objects, display, value);
|
||||
menuState = MAIN_MENU;
|
||||
break;
|
||||
case RE_ET_BTN_PRESSED:
|
||||
@ -459,7 +461,7 @@ void handleMenu(SSD1306_t *display)
|
||||
menuState = MAIN_MENU;
|
||||
ssd1306_clear_screen(display, false);
|
||||
// change control mode
|
||||
control.changeMode(controlMode_t::IDLE);
|
||||
objects->control->changeMode(controlMode_t::IDLE);
|
||||
return;
|
||||
}
|
||||
}
|
||||
@ -13,9 +13,10 @@ typedef enum {
|
||||
|
||||
//--- menuItem_t ---
|
||||
// struct describes one menu element (all defined in menu.cpp)
|
||||
typedef struct {
|
||||
void (*action)(int value, SSD1306_t * display); // pointer to function run when confirmed
|
||||
int (*currentValue)(); // pointer to function to get currently configured value
|
||||
typedef struct
|
||||
{
|
||||
void (*action)(display_task_parameters_t * objects, SSD1306_t * display, int value); // pointer to function run when confirmed
|
||||
int (*currentValue)(display_task_parameters_t * objects); // pointer to function to get currently configured value
|
||||
int valueMin; // min allowed value
|
||||
int valueMax; // max allowed value
|
||||
int valueIncrement; // amount changed at one encoder tick (+/-)
|
||||
@ -28,5 +29,4 @@ typedef struct {
|
||||
const char line7[17]; // below value
|
||||
} menuItem_t;
|
||||
|
||||
|
||||
void handleMenu(SSD1306_t * display);
|
||||
void handleMenu(display_task_parameters_t * objects, SSD1306_t *display);
|
||||
@ -140,10 +140,10 @@ CONFIG_I2C_INTERFACE=y
|
||||
# CONFIG_SPI_INTERFACE is not set
|
||||
# CONFIG_SSD1306_128x32 is not set
|
||||
CONFIG_SSD1306_128x64=y
|
||||
CONFIG_OFFSETX=0
|
||||
CONFIG_OFFSETX=2
|
||||
# CONFIG_FLIP is not set
|
||||
CONFIG_SCL_GPIO=22
|
||||
CONFIG_SDA_GPIO=21
|
||||
CONFIG_SDA_GPIO=23
|
||||
CONFIG_RESET_GPIO=15
|
||||
CONFIG_I2C_PORT_0=y
|
||||
# CONFIG_I2C_PORT_1 is not set
|
||||
@ -1246,6 +1246,17 @@ CONFIG_WPA_MBEDTLS_CRYPTO=y
|
||||
# CONFIG_WPA_MBO_SUPPORT is not set
|
||||
# CONFIG_WPA_DPP_SUPPORT is not set
|
||||
# end of Supplicant
|
||||
|
||||
#
|
||||
# Rotary encoders
|
||||
#
|
||||
CONFIG_RE_MAX=1
|
||||
CONFIG_RE_INTERVAL_US=1000
|
||||
CONFIG_RE_BTN_DEAD_TIME_US=10000
|
||||
CONFIG_RE_BTN_PRESSED_LEVEL_0=y
|
||||
# CONFIG_RE_BTN_PRESSED_LEVEL_1 is not set
|
||||
CONFIG_RE_BTN_LONG_PRESS_TIME_US=500000
|
||||
# end of Rotary encoders
|
||||
# end of Component config
|
||||
|
||||
#
|
||||
|
||||
@ -201,27 +201,17 @@ joystickData_t httpJoystick::getData(){
|
||||
}
|
||||
|
||||
|
||||
//--------------------------------------------
|
||||
//--- receiveHttpData for httpJoystickMain ---
|
||||
//--------------------------------------------
|
||||
//function that wraps pointer to member function of httpJoystickMain instance in a "normal" function which the webserver can run on joystick URL
|
||||
|
||||
//declare pointer to receiveHttpData method of httpJoystick class
|
||||
esp_err_t (httpJoystick::*pointerToReceiveFunc)(httpd_req_t *req) = &httpJoystick::receiveHttpData;
|
||||
|
||||
esp_err_t on_joystick_url(httpd_req_t *req){
|
||||
//run pointer to receiveHttpData function of httpJoystickMain instance
|
||||
return (httpJoystickMain.*pointerToReceiveFunc)(req);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//============================
|
||||
//===== init http server =====
|
||||
//============================
|
||||
//function that initializes http server and configures available urls
|
||||
void http_init_server()
|
||||
//function that initializes http server and configures available url's
|
||||
|
||||
//parameter: provide pointer to function that handle incomming joystick data (for configuring the url)
|
||||
//TODO add handle functions to future additional endpoints/urls here too
|
||||
void http_init_server(http_handler_t onJoystickUrl)
|
||||
{
|
||||
ESP_LOGI(TAG, "initializing HTTP-Server...");
|
||||
|
||||
//---- configure webserver ----
|
||||
httpd_config_t config = HTTPD_DEFAULT_CONFIG();
|
||||
@ -236,7 +226,7 @@ void http_init_server()
|
||||
httpd_uri_t joystick_url = {
|
||||
.uri = "/api/joystick",
|
||||
.method = HTTP_POST,
|
||||
.handler = on_joystick_url,
|
||||
.handler = onJoystickUrl,
|
||||
};
|
||||
httpd_register_uri_handler(server, &joystick_url);
|
||||
|
||||
@ -265,8 +255,8 @@ void http_init_server()
|
||||
//function that destroys the http server
|
||||
void http_stop_server()
|
||||
{
|
||||
printf("stopping http\n");
|
||||
httpd_stop(server);
|
||||
ESP_LOGW(TAG, "stopping HTTP-Server");
|
||||
httpd_stop(server);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -13,7 +13,18 @@ extern "C"
|
||||
//===== init http server =====
|
||||
//============================
|
||||
//function that initializes http server and configures available urls
|
||||
void http_init_server();
|
||||
//parameter: provide pointer to function that handles incomming joystick data (for configuring the url)
|
||||
//TODO add handle functions to future additional endpoints/urls here too
|
||||
typedef esp_err_t (*http_handler_t)(httpd_req_t *req);
|
||||
void http_init_server(http_handler_t onJoystickUrl);
|
||||
|
||||
//example with lambda function to pass method of a class instance:
|
||||
//esp_err_t (httpJoystick::*pointerToReceiveFunc)(httpd_req_t *req) = &httpJoystick::receiveHttpData;
|
||||
//esp_err_t on_joystick_url(httpd_req_t *req){
|
||||
// //run pointer to receiveHttpData function of httpJoystickMain instance
|
||||
// return (httpJoystickMain->*pointerToReceiveFunc)(req);
|
||||
//}
|
||||
//http_init_server(on_joystick_url);
|
||||
|
||||
|
||||
//==============================
|
||||
@ -27,7 +38,7 @@ void start_mdns_service();
|
||||
//===== stop http server =====
|
||||
//============================
|
||||
//function that destroys the http server
|
||||
void http_stop_server();
|
||||
void http_stop_server(httpd_handle_t * httpServer);
|
||||
|
||||
|
||||
//==============================
|
||||
@ -47,7 +58,7 @@ typedef struct httpJoystick_config_t {
|
||||
class httpJoystick{
|
||||
public:
|
||||
//--- constructor ---
|
||||
httpJoystick( httpJoystick_config_t config_f );
|
||||
httpJoystick(httpJoystick_config_t config_f);
|
||||
|
||||
//--- functions ---
|
||||
joystickData_t getData(); //wait for and return joystick data from queue, if timeout return CENTER
|
||||
@ -67,11 +78,4 @@ class httpJoystick{
|
||||
.radius = 0,
|
||||
.angle = 0
|
||||
};
|
||||
};
|
||||
|
||||
|
||||
|
||||
//===== global object =====
|
||||
//create global instance of httpJoystick
|
||||
//note: is constructed/configured in config.cpp
|
||||
extern httpJoystick httpJoystickMain;
|
||||
};
|
||||
@ -7,6 +7,24 @@ static const char * TAG = "motor-control";
|
||||
|
||||
#define TIMEOUT_IDLE_WHEN_NO_COMMAND 8000
|
||||
|
||||
|
||||
|
||||
//====================================
|
||||
//========== motorctl task ===========
|
||||
//====================================
|
||||
//task for handling the motors (ramp, current limit, driver)
|
||||
void task_motorctl( void * task_motorctl_parameters ){
|
||||
task_motorctl_parameters_t *objects = (task_motorctl_parameters_t *)task_motorctl_parameters;
|
||||
ESP_LOGW(TAG, "Task-motorctl: starting handle loop...");
|
||||
while(1){
|
||||
objects->motorRight->handle();
|
||||
objects->motorLeft->handle();
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//=============================
|
||||
//======== constructor ========
|
||||
//=============================
|
||||
@ -33,6 +51,11 @@ controlledMotor::controlledMotor(motorSetCommandFunc_t setCommandFunc, motorctl
|
||||
//============================
|
||||
void controlledMotor::init(){
|
||||
commandQueue = xQueueCreate( 1, sizeof( struct motorCommand_t ) );
|
||||
if (commandQueue == NULL)
|
||||
ESP_LOGE(TAG, "Failed to create command-queue");
|
||||
else
|
||||
ESP_LOGW(TAG, "Initialized command-queue");
|
||||
|
||||
//cSensor.calibrateZeroAmpere(); //currently done in currentsensor constructor TODO do this regularly e.g. in idle?
|
||||
}
|
||||
|
||||
@ -252,11 +275,11 @@ void controlledMotor::setTarget(motorstate_t state_f, float duty_f){
|
||||
.state = state_f,
|
||||
.duty = duty_f
|
||||
};
|
||||
|
||||
ESP_LOGD(TAG, "Inserted command to queue: state=%s, duty=%.2f", motorstateStr[(int)commandSend.state], commandSend.duty);
|
||||
ESP_LOGI(TAG, "setTarget: Inserting command to queue: state='%s'(%d), duty=%.2f", motorstateStr[(int)commandSend.state], (int)commandSend.state, commandSend.duty);
|
||||
//send command to queue (overwrite if an old command is still in the queue and not processed)
|
||||
xQueueOverwrite( commandQueue, ( void * )&commandSend);
|
||||
//xQueueSend( commandQueue, ( void * )&commandSend, ( TickType_t ) 0 );
|
||||
ESP_LOGD(TAG, "finished inserting new command");
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -86,3 +86,21 @@ class controlledMotor {
|
||||
uint32_t timestamp_commandReceived = 0;
|
||||
bool receiveTimeout = false;
|
||||
};
|
||||
|
||||
|
||||
|
||||
// struct with variables passed to task from main
|
||||
typedef struct task_motorctl_parameters_t {
|
||||
controlledMotor * motorLeft;
|
||||
controlledMotor * motorRight;
|
||||
} task_motorctl_parameters_t;
|
||||
|
||||
|
||||
//====================================
|
||||
//========== motorctl task ===========
|
||||
//====================================
|
||||
//task that inititialized the display, displays welcome message
|
||||
//and releatedly updates the display with certain content
|
||||
//note: pointer to required objects have to be provided as task-parameter
|
||||
void task_motorctl( void * task_motorctl_parameters );
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user